nuScenes 데이터셋

sample_data {
   "token":                   <str> -- Unique record identifier.
   "sample_token":            <str> -- Foreign key. Sample to which this sample_data is associated.
   "ego_pose_token":          <str> -- Foreign key.
   "calibrated_sensor_token": <str> -- Foreign key.
   "filename":                <str> -- Relative path to data-blob on disk.
   "fileformat":              <str> -- Data file format.
   "width":                   <int> -- If the sample data is an image, this is the image width in pixels.
   "height":                  <int> -- If the sample data is an image, this is the image height in pixels.
   "timestamp":               <int> -- Unix time stamp.
   "is_key_frame":            <bool> -- True if sample_data is part of key_frame, else False.
   "next":                    <str> -- Foreign key. Sample data from the same sensor that follows this in time. Empty if end of scene.
   "prev":                    <str> -- Foreign key. Sample data from the same sensor that precedes this in time. Empty if start of scene.
}


sample_annotation {
   "token":                   <str> -- Unique record identifier.
   "sample_token":            <str> -- Foreign key. NOTE: this points to a sample NOT a sample_data since annotations are done on the sample level taking all relevant sample_data into account.
   "instance_token":          <str> -- Foreign key. Which object instance is this annotating. An instance can have multiple annotations over time.
   "attribute_tokens":        <str> [n] -- Foreign keys. List of attributes for this annotation. Attributes can change over time, so they belong here, not in the instance table.
   "visibility_token":        <str> -- Foreign key. Visibility may also change over time. If no visibility is annotated, the token is an empty string.
   "translation":             <float> [3] -- Bounding box location in meters as center_x, center_y, center_z.
   "size":                    <float> [3] -- Bounding box size in meters as width, length, height.
   "rotation":                <float> [4] -- Bounding box orientation as quaternion: w, x, y, z.
   "num_lidar_pts":           <int> -- Number of lidar points in this box. Points are counted during the lidar sweep identified with this sample.
   "num_radar_pts":           <int> -- Number of radar points in this box. Points are counted during the radar sweep identified with this sample. This number is summed across all radar sensors without any invalid point filtering.
   "next":                    <str> -- Foreign key. Sample annotation from the same object instance that follows this in time. Empty if this is the last annotation for this object.
   "prev":                    <str> -- Foreign key. Sample annotation from the same object instance that precedes this in time. Empty if this is the first annotation for this object.
}

1:  barrier
2:  bicycle
3:  bus
4:  car
5:  construction_vehicle
6:  motorcycle
7:  pedestrian
8:  traffic_cone
9:  trailer
10: truck

1:  bicycle
2:  bus
3:  car
4:  motorcycle
5:  pedestrian
6:  trailer
7:  truck

1:  barrier
2:  bicycle
3:  bus
4:  car
5:  construction_vehicle
6:  motorcycle
7:  pedestrian
8:  traffic_cone
9:  trailer
10: truck
11: driveable_surface
12: other_flat
13: sidewalk
14: terrain
15: manmade
16: vegetation